version: 66.11
glider: 192
mission: 2
dive: 578
start: 1 2 114 5 58 58
data:
$ID,192
$MISSION,2
$DIVE,578
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,110
$T_BOOST,0
$D_FINISH,9
$D_PITCH,1.75
$D_SAFE,500
$D_CALL,3
$SURFACE_URGENCY,10
$SURFACE_URGENCY_TRY,10
$SURFACE_URGENCY_FORCE,20
$T_DIVE,400
$T_MISSION,430
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-4
$USE_ICE,2
$ICE_FREEZE_MARGIN,0.1
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52018
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0041718199
$HD_B,0.0099987797
$HD_C,3.62024e-06
$HEADING,90
$ESCAPE_HEADING,100
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,5
$TGT_DEFAULT_LAT,6000
$TGT_DEFAULT_LON,-5500
$TGT_AUTO_DEFAULT,0
$SM_CC,549.71729
$N_FILEKB,4
$FILEMGR,2
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,1
$N_NOCOMM,6
$NOCOMM_ACTION,161
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,3
$CALL_TRIES,3
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,3
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-12444.111
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,145
$PITCH_MAX,3924
$C_PITCH,2510
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,23
$PITCH_TIMEOUT,18
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.0099999998
$PITCH_ADJ_DBAND,1
$ROLL_MIN,318
$ROLL_MAX,3873
$ROLL_DEG,24
$C_ROLL_DIVE,2500
$C_ROLL_CLIMB,2510
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,16
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2741
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0015
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,350
$AH0_10V,0
$MINV_24V,10
$MINV_10V,9.5
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.7798
$PRESSURE_SLOPE,0.0001164018
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,20
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,5
$ALTIM_TOP_MIN_OBSTACLE,2.8
$ALTIM_PING_DEPTH,300
$ALTIM_PING_DELTA,50
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,5
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0.5
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,97
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,32
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042877649
$SEABIRD_T_H,0.00062281737
$SEABIRD_T_I,2.2009486e-05
$SEABIRD_T_J,2.217299e-06
$SEABIRD_C_G,-9.8550158
$SEABIRD_C_H,1.1245382
$SEABIRD_C_I,-0.0013153109
$SEABIRD_C_J,0.00017883891
$GPS1,020114,054259,6359.492,-6006.506,42,1.0,42,-30.8
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.68
$_SM_ANGLEo,-28.7
$GPS2,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8
$SPEED_LIMITS,0.143,0.247
$TGT_NAME,HEADING
$TGT_LATLONG,6359.083,-5942.916
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,120.8,20000,-15.5,-8.250,-18.49,2720
$D_GRID,372
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,20,-0.89,-146.0,122,2529,1134,1047,0.0,0.0,0,100,0.00,0.00,-76.60,0.000,16386,0.000,0.000,121,2529,2504,2587,2422,0,0,0,0,0,0,28.83,28.83,28.83
$GC,107,-0.89,-146.0,120,2529,2589,2423,3.3,-3.4,8,150,10.43,1.60,-23.02,0.000,18948,0.420,0.134,2210,1660,3339,3507,3172,0,0,0,0,0,0,13.74,14.16,14.71
$GC,178,-0.77,-146.0,2209,1660,3509,3172,15.5,-18.5,15,182,0.22,1.55,0.00,0.000,3078,0.292,0.113,2255,2509,3340,3509,3172,0,0,0,0,0,0,13.87,14.16,28.83
$GC,495,-0.70,-146.0,2255,2509,3509,3171,76.5,-19.5,46,500,0.12,1.50,0.00,0.000,2564,0.307,0.094,2287,1659,3340,3510,3170,0,0,0,0,0,0,14.00,14.15,28.83
$GC,552,-0.65,-146.0,2287,1658,3510,3171,86.7,-16.8,51,556,0.00,1.55,0.00,0.000,1030,0.000,0.119,2283,2501,3339,3509,3170,0,0,0,0,0,0,28.83,14.09,28.83
$GC,878,-0.60,-146.0,2283,2502,3510,3170,139.8,-16.4,67,880,0.12,0.00,0.00,0.000,2054,0.301,0.000,2309,2502,3340,3510,3171,0,0,0,0,0,0,14.09,28.83,28.83
$GC,1179,-0.57,-146.0,2309,2502,3510,3170,181.0,-13.2,77,1182,0.00,1.50,0.00,0.000,516,0.000,0.100,2309,1658,3340,3510,3170,0,0,0,0,0,0,28.83,14.08,28.83
$GC,1309,-0.56,-146.0,2309,1658,3510,3170,196.8,-12.5,81,1313,0.00,1.60,0.00,0.000,1030,0.000,0.119,2306,2503,3340,3510,3170,0,0,0,0,0,0,28.83,14.00,28.83
$GC,1646,-0.54,-146.0,2306,2503,3510,3170,235.8,-11.3,92,1647,0.00,0.00,0.00,0.000,6,0.000,0.000,2306,2503,3340,3510,3170,0,0,0,0,0,0,28.83,28.83,28.83
$GC,1945,-0.53,-146.0,2306,2503,3510,3169,273.1,-12.7,102,1949,0.12,1.52,0.00,0.000,2564,0.295,0.096,2337,1648,3339,3510,3169,0,0,0,0,0,0,14.03,14.09,28.83
$GC,1989,-0.53,-146.0,2337,1649,3510,3169,277.5,-12.5,103,1993,0.00,1.58,0.00,0.000,1030,0.000,0.121,2332,2499,3339,3510,3169,0,0,0,0,0,0,28.83,14.02,28.83
$GC,2315,-0.54,-146.0,2332,2500,3510,3169,308.8,-8.8,114,2319,0.00,1.52,0.00,0.000,516,0.000,0.100,2332,1662,3339,3510,3169,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2376,-0.56,-146.0,2333,1661,3510,3169,312.3,-9.0,115,2383,0.00,1.55,0.00,0.000,1030,0.000,0.117,2327,2502,3339,3510,3169,0,0,0,0,0,0,28.83,14.01,28.83
$GC,2681,-0.57,-146.0,2327,2502,3510,3169,344.8,-10.5,126,2683,0.00,0.00,0.00,0.000,6,0.000,0.000,2327,2502,3340,3511,3169,0,0,0,0,0,0,28.83,28.83,28.83
$STATE,2945,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2945,begin apogee
$GC,2959,-0.22,0.0,2327,2501,3511,3169,372.8,-10.8,135,3124,0.40,0.00,153.65,2.293,10246,0.217,0.000,2435,2502,2741,2863,2620,0,0,0,0,0,0,13.80,28.83,12.26
$STATE,3125,end apogee,CONTROL_FINISHED_OK
$STATE,3125,begin climb
$GC,3132,0.89,146.0,2435,2501,2862,2621,382.4,0.0,140,3310,1.25,1.85,169.50,2.216,10500,0.172,0.130,2788,3353,2144,2244,2045,0,0,0,0,0,0,13.45,12.74,11.61
$GC,3366,0.98,234.9,2788,3353,2240,2044,379.6,4.9,148,3476,0.00,1.62,104.38,2.156,9222,0.000,0.088,2794,2507,1783,1875,1691,0,0,0,0,0,0,28.83,13.18,11.61
$GC,3802,0.97,234.9,2794,2507,1869,1686,331.5,11.0,163,3805,0.00,1.52,0.00,0.000,516,0.000,0.103,2800,1660,1777,1869,1685,0,0,0,0,0,0,28.83,14.00,28.83
$GC,3845,0.96,234.9,2800,1659,1868,1684,327.7,11.0,164,3849,0.00,1.58,0.00,0.000,1030,0.000,0.116,2800,2512,1777,1869,1685,0,0,0,0,0,0,28.83,14.06,28.83
$GC,4171,0.94,234.9,2800,2512,1868,1684,291.4,10.7,175,4175,0.00,1.55,0.00,0.000,260,0.000,0.132,2799,3359,1776,1868,1684,0,0,0,0,0,0,28.83,14.18,28.83
$GC,4220,0.92,234.9,2800,3359,1867,1684,287.4,10.8,176,4224,0.00,1.50,0.00,0.000,1030,0.000,0.091,2807,2498,1775,1867,1684,0,0,0,0,0,0,28.83,14.28,28.83
$GC,4541,0.90,234.9,2807,2497,1867,1684,251.5,9.9,187,4545,0.00,1.50,0.00,0.000,516,0.000,0.104,2813,1671,1775,1867,1684,0,0,0,0,0,0,28.83,14.21,28.83
$GC,4625,0.88,234.9,2813,1671,1867,1683,245.4,9.2,189,4629,0.00,1.52,0.00,0.000,1030,0.000,0.120,2813,2509,1774,1867,1682,0,0,0,0,0,0,28.83,14.19,28.83
$GC,4941,0.87,234.9,2813,2509,1866,1682,208.6,11.3,200,4944,0.00,1.55,0.00,0.000,260,0.000,0.133,2813,3357,1775,1867,1683,0,0,0,0,0,0,28.83,14.16,28.83
$GC,4995,0.85,234.9,2813,3356,1867,1682,204.7,11.0,201,4999,0.15,1.50,0.00,0.000,5126,0.259,0.090,2785,2497,1774,1867,1682,0,0,0,0,0,0,14.04,14.28,28.83
$GC,5312,0.87,243.3,2785,2496,1867,1682,175.4,7.9,212,5325,0.00,1.58,8.55,1.933,8452,0.000,0.130,2785,3362,1748,1840,1656,0,0,0,0,0,0,28.83,14.35,13.28
$GC,5375,0.88,252.8,2785,3362,1840,1656,170.9,7.9,214,5393,0.00,1.52,11.55,1.904,9222,0.000,0.091,2789,2510,1710,1802,1618,0,0,0,0,0,0,28.83,14.35,13.20
$GC,5697,0.98,306.0,2789,2509,1802,1617,149.9,6.2,225,5760,0.12,1.50,57.90,2.016,10756,0.159,0.103,2849,1667,1494,1582,1406,0,0,0,0,0,0,14.45,14.12,12.95
$GC,5849,0.96,306.0,2849,1667,1581,1401,135.1,10.7,230,5853,0.00,1.55,0.00,0.000,1030,0.000,0.120,2849,2514,1491,1581,1401,0,0,0,0,0,0,28.83,14.20,28.83
$GC,6180,0.95,306.0,2849,2514,1578,1398,99.4,11.0,241,6184,0.12,1.55,0.00,0.000,4612,0.265,0.103,2819,1669,1488,1578,1398,0,0,0,0,0,0,14.18,14.22,28.83
$GC,6220,0.95,306.0,2819,1669,1578,1397,95.6,11.0,244,6226,0.00,1.55,0.00,0.000,1030,0.000,0.122,2819,2514,1487,1578,1397,0,0,0,0,0,0,28.83,14.23,28.83
$GC,6528,1.00,336.7,1824,2512,1552,1393,64.4,7.1,275,6554,0.00,1.52,17.30,0.367,8452,0.000,0.133,2819,3353,1370,1459,1281,0,0,0,0,0,0,28.83,14.18,13.85
$GC,6601,1.00,336.7,2819,3353,1454,1280,58.3,9.6,282,6605,0.00,1.50,0.00,0.000,1030,0.000,0.093,2825,2515,1367,1454,1280,0,0,0,0,0,0,28.83,14.28,28.83
$GC,6917,1.02,336.7,2825,2514,1451,1278,29.0,10.6,313,6921,0.00,1.50,0.00,0.000,516,0.000,0.108,2831,1664,1364,1452,1277,0,0,0,0,0,0,28.83,14.19,28.83
$GC,6956,1.02,336.7,2831,1664,1451,1277,26.0,8.8,316,6963,0.00,1.58,0.00,0.000,1030,0.000,0.124,2831,2516,1364,1451,1277,0,0,0,0,0,0,28.83,14.17,28.83
$FREEZE,8.80,-1.759,-1.817,2,2,0
$STATE,7129,end climb,FINISH_DEPTH_REACHED
$STATE,7129,begin subsurface finish
$FINISH1,8.8,1.026596,45
$GC,7149,0.07,44.6,2831,2516,1450,1277,8.8,9.7,334,7194,1.02,1.58,-37.65,0.000,20996,0.205,0.137,2540,1660,2561,2665,2458,0,0,0,0,0,0,13.93,14.20,14.76
$FINISH2,7.1
$STATE,7195,end subsurface finish,CONTROL_FINISHED_OK
$STATE,7195,begin surface
$RAFOS_CLK,346
$RAFOS_FIX,6632.709473,-5809.086426,281213,202044,2,98,0.12
$IRIDIUM_FIX,6332.30,-6008.62,020114,050535
$TT8_MAMPS,0.024717,0.024717
$HUMID,46.45
$INTERNAL_PRESSURE,8.76204
$TCM_TEMP,12.00
$XPDR_PINGS,24
$ALTIM_TOP_PING,19.6,999.0
$24V_AH,11.6,238.613
$10V_AH,11.7,0.000
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.100,48.100,522.825,0.000,0.000,0.000,0.000,489.575,6.750,0.000,151.658,952.541,4771.885,521.055,1403.683,464.146,0.000,1591.402,0.000,846.483,0.000,6.355,0.000
$DEVICE_MAMPS,419.985,136.935,2293.470,0.000,0.000,0.000,0.000,109.395,420.000,0.000,18.720,14.960,2.310,14.210,33.690,39.680,0.000,12.000,0.000,6.740,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,nil,nil,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,237.644,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.220,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,238536
$DATA_FILE_SIZE,13498,340
$CAP_FILE_SIZE,80396,0
$CFSIZE,259252224,206483456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$SOUNDSPEED,1446.8
$GPS,020114,055812,6359.083,-6007.537,149,1.2,150,-30.8